Robot controlled limb



Sept. 4, 1951 l. A. GOLDMAN ROBOT coNTRoLLED LIMB 5 Sheets-Sheet l FiledMay 15, 1948 IN VE NTOR nvm@ GrommAN Alf/MW Sept. 4, 1951 l. A. GOLDMANROBOT CONTROLLED LIMB 3 SheeiS-Shee 2 Filed May 15, 1948 IN/ENTOR Rv-LN@GOLDMAN Sept' 4, 1951 l. A. GOLDMAN ROBOT CONTROLLED LIME 3 Sheets-Sheet5 Filed May l5, 1948 n .midi i e4 ls INVENTOR IRVING GOLDMAN BY .ym/

Patented Sept. 4, 1951 UNITED STATES PATENT -OFFICE ROBOT CONTROLLEDLIMB Irving A. Goldman, Alexandria, Va.

Application May 15, 1948, Serial No. 27,272

7 Claims.

1 l This invention relates to artificial limbs and in particular to oneof the robot controlled type.

An important object of the invention is to provide means for controllingthe movement of the fingers of a hand so that the nnger joints thereofVcan be operated at the will of the wearer of the artificial arm so thatthe hand may be used to move things about and may be used to pick uparticles and grip the same for use, such as a lead pencil, a book or thelike.

Another important object of my invention is the. provision of means inconnection with ahand whereby the wearer can determine. whether thearticle picked up or touched is hot or cold and if so., to what degree.

Another important object of the invention is ,to provide means wherebythe operation of the fingers may be controlled as gripping members froma switch carried in the mouth of the wearer of the artiiicial limb sothat a difference in biting pressure may be used to control thedifferent outer and inner joints of the hand, a sourcer of power `beingalso included in the nature of a storage battery or power pack. whichmay be carried varound by the individual and which may be charged by himwhen he is at home.

Still further objects of 'my invention include the use of detecingmeans' incorporated in the foot and leg structure of' an artificial iegin which the unevenness of a surface walked upon may be sensed by theindividual in the stump of the leg to which is secured the articiallimb; to provide in such a leg, a mechanical means which will in-'dicate to the wearer for instance, the edge of a step or curbstone sothat he will be aware of a step or unevenness of the ground; and toprovide a switch mechanism for the control of the various parts.

For further comprehension of the invention, and of' the objects andadvantages thereof, reference will be had to the following descriptionand accompanying drawings, and to the appended claims in which thevarious novel features of the invention are more particularly set forth.

In the accompanying drawings forming a material part of thisdisclosure-- Fig. 1 is a View in perspective showing a person equippedwith an artificial arm and using the invention as applied to the handthereof for holding an implement.

Fig. 2 is a plan view of a hand and the mechanism for operating theparts thereof, together with the electrical circuit involved, the samebeing shown in diagrammatic arrangement.

Fig. 3 is an enlarged side view of the hand portion of the articiallimb, a part thereof being shown in section to illustrate the operatingmechanism.

Fig. 4 is a view in section through a switch which is part of a controlunit, a power pack being also shown.

Fig. 5 is a. side View of a hand in which is incorporated temperaturedetecing means.

Fig. 6 is an enlarged fragmentary section taken through one of thefingers of the hand illustrated in Fig. 5 showing the contact memberused against the surface, of an object.

Fig. 7 is a view of the lower part of a body supported by an. artificialleg in which has been incorporated detecting means. y n

Fig. 8 is an enlarged view taken on the line 8-8 of Fig. 'l illustratingthe relative position of the parts of the detecting mechanism.

Fig. 9 is an enlarged view, partly in section of the foot portion of theartificial limb having the ground engaging detecting means shown inconnection therewith.

Fig. 10 is an enlarged view in cross section, through the upper portionof the limb, showing the means employed for imparting to the stumpsupported in. the articial leg, indication of an uneven surface uponwhich the foot rests.

Fig. 11 is a diagrammatic view of .ay modified form of the sensingmechanism that may be employed in connectionV with thev limb shown inFig. 8.

Referring to the drawing in detail, the numeral I0 indicates the stumpof an arm to which is attached, in the well known manner, an artificialarm Il terminating in a hand I2. The hand, as illustrated in Fig. 3,while of the usual construction found in artificial hands, may, in thisparticular instance, be articulated as at I3 in the iinger portions I4thereof to provide for the pivotal movement of the outer, inner andintermediate joints i5, I6 and il, respectively. The nger portions I4are of hollow construction and in their pintle portions I3 may presentsquare shafts I 8 upon which are nXed the lever arms I9 in any suitablemanner. The free ends of the arms are pivoted as at 28 to the cores 2lof solenoids 22 which operate against the tension of springs 23 toactuate the nger joints and position them as shown in outline in Fig. 3,so that any article may be gripped thereby and picked up.

For the purpose of illustration, I have employed only two sets ofsolenoids for the operation of the outer and intermediate finger jointsbut it is to be understood that other sets may be used to operate notonly the inner joints of the nngers but the wrist and elbow joints if.so desired. Referring to Fig. 2, the solenoids 22 are arranged in rowsand the upper row is connected through the medium of the wires 25 with asource of current 26 which in this instance may be a storage battery ora power pack 21 which may 3 be slung over the shoulder of the user ofthe articial arm through the medium of the strap 28. Wires 23 connectlan outer set of the solenoids 22 with the source of current and there isin terposed in the lines 25 and 29 a control unit 3l) (Fig. 4).

The control unit consists of a very minute housing 3l of cylindricalform in the opposite walls of which are imbedded the contacts 32 and 33,the housing being closed by a ring member 34 which imprisons aself-seating cylindrical contact switch 35 which is maintained againstthe ring 34 and in the upper part of the housing by a compression spring36. -This switch unit 38 is placed in the mouth of the person using thesame when the fingers are to be operated, and positioned between theteeth so that the switch 35 can be depressed to bridge the contacts 32first and then the contacts 33 to close the circuit through the line29.iirst and, when the member 35 moves farther into the housing, throughthe line 25. The shape of the device 25 is such that after the circuitthrough the` line 29 is closed and the Vswitch 35 is fully depressed itwill maintain the circuit already made and will complete a new ycircuitthrough the line 25. This' actiontis necessary so that the fingers maybe closed to pick up something, that is, the outer joints will beoperated first'and then the inner joints.

The wires 25 and 29 may be molded in the `.housing 3l, as are thecontacts, the wires being lead therefrom in a single cable casing 35H-,that is, connected to the power pack 2 in any suitable manner and fromwhich said casing extends as at 3l to the artificial arm structule.

In Figs. and 6, I have illustrated a temperature sensitive device thatmay be `incorporated in the artificial hand structure either as aseparate feature or in combination with the finger operating mechanism.This sensitive device consists of inserts or pads lll molded orotherwise formed in the inner surface of the finger joints and in whichis molded a large number of metallic pins s! such as aluminum. Thesepins protrude very slightly beyond the surface of the pad 4S so thatthey may engage a surface touched by the hand and serve as heat or coldconductors. The pins 4i are connected through the medium of Wires 42extending from each iingerpad 46 to a bimetal expansion and contactstrip unit 53. The operation of a bimetal strip of this nature is wellunderstood, it being suicient to note that the degree of heat affectingit will cause it to bow and Yoperate the pointer le to indicate, on themeter dial 45, opposite ranges of heat from a normal dial indication 55.

Referring to the` form of .the invention shown in Figs. 7 to ll, thestump of a leg 55 is shown mounted in the upper portion 5l ofanrartiiicial limb structure 52 comprising a leg portion 54 and a foot55, articulated and controlledrlby any means common in artificial leg,structures.

The purpose of the device is to give to the bottom surface of the stumpa sensation in accordance with the roughness of the surface upon whichthe foot is resting so that it will be pos-` sible for instance, for thewearer to feel the edge of a curbing or other obstruction and to thisend I provide a large number of Bowden wires 55 which consist of theusual casings 57 and inner wire 58. The bottom wall of the foot 55 isrecessed as at 6l) to provide a pocket in which the heads 5| of thewires 58 may rest, the ends of the casings 5l being suitably connectedin a holding plate 62 secured in any suitable manner to the bottom 63 ofthe foot 55.

When the foot is resting upon a iiat surface, all of the heads v6| ofthe Bowden wires will be flush with the hanged edge 59 that extendsabout the bottom of the foot portion 55, but when the foot rests upon anuneven surface (Fig. 9), the latter, indicated as at 64, Will depressthe Wires 58 and will lift them at their opposite ends as at 65. Saidopposite ends are disposed at a point in the leg structure immediatelybeneath the supporting sock 66 in which the stump 50 is supported in theleg part 5|. The ends of the wires 58 pass through a plate B1, areprovided with heads 68 and are arranged to engage plates or strips 63over which is stretched a rubber sheet 10 which is secured at its endsto the member 61, which in turn is mounted on a suite able bracket l forsupport within the leg portion 5| and constitutes a holding means 12into which the upper ends of the Wire casings 5l are secured.

The sheet l0 will be stretched taut across the plates es and winyieldabiy hold the heads@ in their depressed position. When the footrests on an uneven surface,v the Bowden wires vare pressed inwardlyagainst the yielding action of the rubber sheet with the result that asection of the rubber sheet corresponding to, a section of the footportion that engages the uneven sur-l face is raised up and is pushedagainst the bot-1 tom of the leg stump and thus the individual will getthe `impression that the 4foot has stepped on something. As illustratedin Fig. ll,A the Bowden wire structure` 'l5 maybe separated and may haveinterposed between'the ends thereof an adjustable link 16, through themedium of .which the pushing action of the lower Bowden wire may bevaried. y

It is evident therefore, that I have provided an articial limb structurewhich may be used to pick up articles, may be used to sense heat andcold and may be used to sense even `and uneven surfaces.

While I have illustrated and described the preferred embodiments of myinvention, Vit is to be understood that I do not limit myself to theprecise constructions herein disclosed and the right is reserved to lallchanges and modifications com ing within the scope of the invention asdefined in the appended claims.

Having thus described my invention, what I claim as new, and, desire tosecure byUnited States Letters Patent is:

l. In an artificial hand having a plurality of tubular fingers, contactpads on the inner surf faces of each of the fingers, contact pins inthepads for engaging a surface to be felt, wires lead-,- ing from saidpins, a bimetal member to which the wires are joined to be influenced.by differ.- ences in temperature transferred from said con'- tactsthrough said Wires, and an indicator actuated by said bimetal member. 2.In an artificial hand having a plurality of tubular fingers, contactpads on the inner surfaces of each of the fingers, contact pins inthepads for engaging a surface to be felt, wires leading from said pins, abimetal member to which the Wires are joined to be influenced bydifferences lin temperature transferred from said contacts through saidWires, and an indicator actuated by .said bimetal member, said padsbeing flexible to conform closely to the contour of the surface engaged.,3. In an artificial hand having a finger formed of a plurality ofhollow end aligned nger portions with adjacent ends of the nger portionsbeing slightly overlapped, pivot pins extended through the overlappedends of the finger portions, each of said pivot pins being secured toone of the finger portions through which it is engaged and beingrotatively extended through the other oi the finger portions, a solenoidhaving a core for each of said pivot pins xedly mounted in the fingerportion through which the respective pivot pin is rotatively extended,levers each fixedly connected at one end to one of said pivot pins andat the other end to the core of the respective solenoid for turning therespective pivot pin to move the finger member when the solenoid isenergized, spring means operating between each or" said cores and afixed part of the respective finger members for urging said cores intoextended positions, and electrically operated circuit means connected tosaid solenoids and controlled by a manually operable switch forenergizing said solenoids when said switch is closed.

4. In an artificial hand having a finger formed of a plurality of hollowend aligned finger portions with adjacent ends of the finger portionsbeing slightly overlapped, pivot pins extended through the overlappedends of the finger portions, each of said pivot pins being secured toone of the finger portions through which it is engaged and beingrotatively extended through the other of the finger portions, a solenoidhaving a core for each of said pivot pins fixedly mounted in the ngerportion through which the respective pivot pin is rotatively extended,levers each xedly connected at one end to one of said pivot pins and atthe other end to the core of the respective solenoid for turning therespective pivot pin to move the linger member when the solenoid isenergized, spring means operating between each of said cores and a fixedpart of the respective finger member for urging said cores into extendedpositions, and electrically operated circuit means connected to saidsolenoids and controlled by a manually operable switch for energizingsaid solenoids when said switch is closed, said switch means beingoperable to energize said solenoids one after the other.

5. In artificial hand having a finger formed of a plurality of hollowend aligned finger portions with adjacent ends of the finger portionsbeing slightly overlapped, pivot pins extended through the overlappedends of the nger portions, each of said pivot pins being secured to oneof the nger portions through which it is engaged and being rotativelyextended through the other of the iinger portions, a solenoid having acore for each of said pivot pins fixedly mounted in the finger portionthrough which the respective pivot pin is rotatively extended, leverseach xedly connected at one end to one of said pivot pins and at theother end to the core of the respective solenoid for turning therespective pivot pin to move the nger member when the solenoid isenergized, spring means operating between each of said cores and a xedpart of the respective finger member for urging said cores into extendedpositions, and electrically operated circuit means connected to saidsolenoids and controlled by a manually operable switch for energizingsaid solenoids when said switch is closed, said switch comprising ahollow housing of insulation material, sets of contacts connected inseries in said circuit mounted in diametrically opposite sides of theinner wall of said housing, a movable switch member slidably extendedfrom said housing to be pushed inward for bridging said sets ofcontacts, and means retaining said switch member yieldably in aninoperative position extended from said housing.

6. In artificial hand having a finger formed of a plurality of hollowend aligned finger portions with adjacent ends of the finger portionsbeing slightly overlapped, pivot pins extended through the overlappedends of the finger portions, each of said pivot pins being secured toone of the nger portions through which it is engaged and beingrotatively extended through the other of the nger portions, a solenoidhaving a core for each of said pivot pins xedly mounted in the fingerportion through which the respective pivot pin is rotatively extended,levers each xedly connected at one end to one of said pivot pins and atthe other end to the core of the respective solenoid for turning therespective pivot pin to move the finger member when the solenoid isenergized, spring means operating between each of said cores and a xedpart of the respective linger member for urging said cores into extendedpositions, and electrically operated circuit means connected to saidsolenoids and controlled by a manually operable switch for energizingsaid solenoids when said switch is closed, said switch being of a sizeto be positioned between the teeth of the wearer of the hand to beoperated by opening and closing of the jaws.V

'7. In artificial hand having a iinger formed of a plurality of hollowend aligned finger portions with adjacent ends of the finger portionsbeing slightly overlapped, pivot pins extended through the overlappedends of the finger portions, each of said pivot pins being secured toone of the nger portions through which it is engaged and beingrotatively extended through the other of the nger portions, a solenoidhaving a core for each of said pivot pins fixedly mounted in the iingerportion through which the respective pivot pin is rotatively extended,levers each xedly connected at one end to one of said pivot pins and atthe other end to the core of the respective solenoid for turning therespective pivot pin to move the finger member when the solenoid isenergized, spring means operating between each of said cores and a fixedpart of the respective finger member for urging said cores into extendedpositions, and electrically operated circuit means connected to saidsolenoids and controlled by a manually operable switch for energizingsaid solenoids when said switch is closed, said switch being usable at apoint on the body of thewearer of the hand remote from the hand, andcables connecting said switch with said solenoids and a source of powerfor said circuit.

IRVING A. GOLDMAN.

REFERENCES CITED The following references are of record in the file ofthis patent:

UNITED STATES PATENTS Number Name Date 2,301,009 Beeker Nov. 3, 19422,402,327 Harrington June 18, 1946 2,497,493 Edwards Feb. 14, 1950FOREIGN PATENTS Number Country Date 301,108 Germany Oct. 9, 1917 311,455Germany Mar. 17, 1919

